Apparatus for processing and grading food articles and related methods

ABSTRACT

This disclosure concerns methods for processing and grading food articles including x-raying the food articles a first time and taking a 3D image of the food articles.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a Divisional application of U.S. patent applicationSer. No. 15/555,953, filed Mar. 2, 2016, which is a national phase entryunder 35 U.S.C. § 371 of International Patent ApplicationPCT/IB2016/051192, filed Mar. 2, 2016, designating the United States ofAmerica and published in English as International Patent PublicationWO2016/139611 A2 on Sep. 9, 2016, which claims the benefit of U.S.Patent Application Ser. No. 62/127,150, filed Mar. 2, 2015, and U.S.Patent Application Ser. No. 62/255,963, filed Nov. 16, 2015, thedisclosure of each of which is hereby incorporated by reference in itsentirety.

TECHNICAL FIELD

Embodiments of the disclosure generally relate to apparatuses andmethods for processing and grading food articles, for example, based onat least one characteristic of the food articles, wherein the gradingcomprises arranging the food articles along a conveyor and/or gradingthe articles onto one or more receiving areas.

BACKGROUND

Conventional grading machines include aims and/or trays to grade foodarticles while the food articles move along a conveyor. Food articlesare often graded based on different characteristics, such as weight.Such methods often require several human participants to double checkautomatic procedures performed by machines, or to perform additionalactions not performed by machines.

For example, U.S. Pat. No. 7,258,237 describes a grading technique thatincludes weighing and portioning an item. In the grading technique,natural foodstuff items with varying weights are subjected to aweighing-in, and are thereafter selectively fed together in a computercontrolled manner. According to this reference, a robot device includinga grip, operated by a control system, is used for removing items from adelivery station to a receiving area for placement into a particularbatch.

Similar methods for poultry packaging are described in “RoboticPackaging of Poultry products, by K. Khodabandehloo, Department ofMechanical Engineering, University of Bristol ISBN 0442316615(Routledge, 1992)” and “Benefits of Experts robots intelligence vs.Skill, by K. Khodabandehloo, Department of Mechanical Engineering,University of Bristol ISBN 0387537317 (Routledge, 1992)”. The previousreferences disclose a robot used to place poultry portions into traysaccording to a defined scheme.

DISCLOSURE

This summary is provided to introduce a selection of concepts in asimplified form. These concepts are described in further detail in thedetailed description of example embodiments of the disclosure below.This Summary is not intended to identify key features or essentialfeatures of the claimed subject matter, nor is it intended to be used tolimit the scope of the claimed subject matter.

Applicants have discovered that one disadvantage of having a robot armpicking the articles up from a conveyor is that it is difficult todesign a good gripper arm to handle (e.g., grasp) delicate food productsthat typically come in various sizes. If the gripper arm is big enoughfor the biggest articles, it will require significantly more spacebetween small articles than would otherwise be needed. Furthermore, suchgripping robotic arms are not able to grasp articles that are orientedvery close to each other on the conveyor. For example, such grippingrobotic arms would not be able to grasp fish portions that are cut priorto being graded, but wherein the cut portions are still in the shape ofthe original fillet, without disturbing or even damaging the surroundingportions.

Embodiments herein include methods for grading food articles on asurface, and/or robots and apparatus. The surface may be a conveyorhaving an in-feed end and an out-feed end. Some embodiments comprisecutting a food article (e.g., a fish fillet) into a plurality ofportions that are bisected by a line that is parallel to the in-feed endand/or the out-feed end of the conveyor. In embodiments, each portion ofa plurality of portions may have an alignment and orientation. Grading aportion of the plurality of portions may include moving at least oneportion of the plurality of portions, while at least substantiallymaintaining the alignment and orientation of each portion of theplurality of portions. In particular examples, moving the at least oneportion may remove the portion(s) from a surface whereupon the portionsare disposed.

In some embodiments, a method for grading food articles includes cuttinga food article into a plurality of portions oriented parallel to eachother. Some examples include grading at least one of the plurality ofportions that is oriented parallel to at least another of the pluralityof portions, wherein the at least another of the plurality of portionsis/are not graded. Some examples comprise grading at least one of theplurality of portions that is positioned on the conveyor such that eachside of the at least one portion(s) is proximate a side of at least oneadjacent portion; e.g., a cut portion is graded from within the middleof the shape of the original food article.

In some embodiments, a food article is cut into the plurality ofportions, such that the cut portions are oriented very close to eachother on the conveyor (for example, wherein the cut portions areseparated by a space that is essentially the width of a blade of thecutting instrument). In some examples, at least one of the very closelyoriented portions is graded without damaging and/or changing theorientation and/or alignment of the other portion(s) on the conveyor.

In particular embodiments, a method for grading food articles comprisesat least one step selected from the group consisting of: capturing afirst x-ray image of a food article; detecting at least a first portionof the food article to be removed, and at least a second portion of thefood article to retain using the first x-ray image; cutting the firstportion of the food article away from the second portion of the foodarticle; moving the first portion of the food article automatically witha machine; and capturing a second x-ray image of the second portion ofthe food article. Certain examples include a method comprising all ofthe foregoing steps.

In particular embodiments, a method for grading food articles comprisesat least one step selected from the group consisting of: cutting a foodarticle into a plurality of portions oriented parallel to each other,wherein each portion has an alignment and orientation; capturing anx-ray image of the plurality of portions oriented parallel to eachother; and moving less than all of the plurality of portionsautomatically with a machine. Some examples comprise detecting whichportions of the plurality of portions contain an undesirable componentof the portion (for example, with a first x-ray machine); and movingonly portions of the plurality of portions containing an undesirablecomponent. In particular examples, the undesirable component is selectedfrom the group consisting of bones (i.e., a bone or bone fragment),cartilage, fat, defects in flesh, tough tissues, skin, blood, andorgans. In certain examples, the undesirable component is a bone. Incertain embodiments, at least one detected portion containing anundesirable component is moved automatically, and any remainingportion(s) comprising a further undesirable component are detected (forexample, in a second x-ray machine).

Some embodiments include a grading device (i.e., a robot), which gradingdevice may have any number of degrees of freedom. In particularembodiments, the grading device may comprise a horizontally movablesupport member; a vertically movable support member slidably coupled tothe horizontally movable support member; a first actuator attached tothe horizontally movable support member; a second actuator attached tothe vertically movable support member; and a means for moving at leastone portion of a food article attached to the vertically movable supportmember (e.g., a needle array, and a gripper). In some examples, themeans for moving at least one portion of a food article may be utilizedto move a plurality of portions at substantially the same time (i.e., inone movement of the grading device).

Some embodiments include an automated food processing system thatcontains, in sequential order on a conveyor, a first x-ray machine, atleast one cutting machine, and a second x-ray machine. In someembodiments, the cutting machine(s) is adapted to cut out a portioncontaining a bone or bone fragment from a food article, leaving one ormore portions of the food article containing flesh. In some examples,the automated food processing system comprises computer programming toutilize information from the second x-ray machine to locate a bone orbone fragment in a food article portion, and a computer adapted toadjust the operation of the cutting machine(s) according to the locationof a bone or bone fragment in a portion of a food article, so as tomaximize the size of the one or more portions of the food articlecontaining flesh that remain(s) after cutting. In particular examples,the automated food processing system comprises at least one gradingdevice (e.g., one, two, three, four, five, or more grading devices) thatis adapted to move a portion of the food article containing bones aftercutting, as determined by the second x-ray machine; for example, toreposition the portion on the conveyor before the cutting machine(s), orto remove the portion from the conveyor. The grading device(s) may bepositioned anywhere in the automated food processing system; forexample, following an x-ray machine or conveyor.

In some embodiments, an automated food processing system comprisescomputer programming to utilize information from the first x-ray machineto locate a bone or bone fragment in a food article portion. Inparticular examples, the automated food processing system comprises atleast one grading device that is adapted to move a portion of the foodarticle containing bones after cutting, as determined by the first x-raymachine; for example, to reposition the portion on the conveyor beforethe cutting machine(s), or to remove the portion from the conveyor.

In some embodiments, the grading robot may include a first mountingmember mounted to a side of a grading conveyor and a second mountingmember mounted to a side of the grading conveyor (for example, a sideother than that to which the first mounting member is mounted). Thegrading robot may include a first guide member horizontally mounted toboth the first mounting member and the second mounting member, and ahorizontally movable support member slidably coupled to the first guidemember. The grading robot may include a second guide member mounted tothe horizontally movable support member, and a vertically movablesupport member slidably coupled to the second guide member. The gradingrobot may in some examples comprise at least one additional actuator, soas to provide at least one additional degree of freedom. Furthermore,the grading robot may include a first actuator (e.g., air cylinder,motor, linear motor, traditional motor, and solenoid) attached at oneend to the horizontally movable support member. The first actuator maybe attached at another end to the second mounting member. The gradingrobot may include a second actuator attached at one end to the secondguide member. The second actuator may be attached at another end to thevertically movable support member. In some examples, a grading robot mayinclude at least one needle or gripper attached to the verticallymovable support member.

Some embodiments include at least one realigning apparatus for aligningfood article. In particular embodiments, a realigning apparatus foraligning a food article or portion of a food article may comprise afirst mini-conveyor; a second mini-conveyor disposed proximate the firstmini-conveyor; a first actuator attached to the first mini-conveyor; anda second actuator attached to the second mini-conveyor, wherein thefirst mini-conveyor is mounted with a hinge such that the firstmini-conveyor is separable from the second mini-conveyor. In someembodiments, a realigning apparatus may include a first mini-conveyordisposed above a processing conveyor, and a second mini-conveyordisposed above the processing conveyor proximate the first miniconveyor. Both the first mini-conveyor and second mini-conveyor may betilted at an angle, such that the first mini-conveyor and secondmini-conveyor form a V-shape.

Some embodiments include a food processing apparatus. In particularembodiments, a food processing apparatus comprises at least oneconveyor; at least one grading device (e.g, a robot); and at least oneimaging system, at least one cutting machine, and/or at least onerealigning apparatus. In particular embodiments, the food processingapparatus comprises at least one of: x-ray machine(s), manual qualitycheck station(s), automated quality check station(s), and realigningapparatus. Certain embodiments include a food processing apparatuscomprising at least one conveyor; at least one x-ray machine; a firstimaging system; at least one cutting machine; at least one quality checkstation; at least one additional imaging system; at least one gradingdevice; at least one realigning apparatus; and at least one computerprogrammed to utilize information from the additional imaging system(s)to determine, for example, the location of a bone or bone fragment in aportion of a food article, the location of fat in a portion of a foodarticle, the color of a portion of a food article, the location of a gapin a portion of a food article, the location of a visual defect in aportion of a food article, and the location of parasites in a portion ofa food article, wherein the computer is programmed to utilizeinformation about the movement of the at least one conveyor and anydetermined feature to adjust the position of the means for moving atleast one portion of a food article of the grading device.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure may be understood more fully by reference to thefollowing Detailed Description of several embodiments, which areillustrated in the appended figures, in which:

FIG. 1 includes a top view of an example of a food article 101 (i.e., afish fillet) cut into portions 117, wherein included in the shape of theoriginal food article 101 is a first plurality of portions 117 (“two,”“three,” and “four”), a second plurality of portions (“five,” “six,”“seven,” and “eight”), and a third plurality of portions (“nine,” “ten,”and “eleven”), each of which is bisected by a line 114 parallel toout-feed end 115 of the conveyor upon which the article 101 is disposed.Referring to FIG. 1, portions 117 “three,” “six,” and “seven” areportions 117 that are positioned such that each side is proximate a sideof at least one adjacent portion 117. Referring again to FIG. 1,portions 117 “one” and “eight” are in series with portion 117 “three,”and portions 117 “two” and “four” are parallel to portion 117 “three.”

FIG. 2 includes a perspective view of an example of a food processingapparatus.

FIG. 3 includes a perspective view of an example of a 3D camera of animaging system of a food processing apparatus.

FIG. 4(a-b) includes perspective views of illustrative cutting machinesof a food processing apparatus. FIG. 4a includes a perspective view ofan example of a “delta” or “spider” cutting robot (i.e., a three degreesof freedom cutting robot). FIG. 4b includes a perspective view of anexample of a four degrees of freedom cutting robot.

FIG. 5 includes a perspective view of an example of a robotic arm of afood processing apparatus.

FIG. 6a includes a perspective view of an example of a needle gradingrobot of a food processing apparatus. FIG. 6b includes a perspectiveview of a further example of a needle grading robot of a food processingapparatus. FIG. 6(c-d) include perspective views of a representativemeans for moving at least one portion of a food article attached to avertically movable support member. In this particular example, the meansfor moving at least one portion of a food article attached to avertically movable support member is an example of a needle arrayattached to a lowermost portion of a vertically movable support member.In FIG. 6c , the needles of the array are positioned proximate thevertically movable support member. In FIG. 6d , the needles of the arrayare positioned distal the vertically movable support member.

FIG. 7 includes perspective views of further exemplary grading robots.

FIG. 7a includes a perspective view of a two degrees of freedom gradingrobot of a food processing apparatus. FIG. 7b includes a view of the twodegrees of freedom grading robot disposed to transfer at least oneportion of the food article from a first conveyor to a second conveyor.In this example, the second conveyor is oriented in parallel withrespect to the first conveyor. However, the second conveyor mayalternatively be oriented perpendicularly, or at any other angle, withrespect to the first conveyor. Furthermore, any grading robot (e.g.,one, two, three, four, or more degrees of freedom grading robotsdescribed herein) may be utilized to transfer a portion of the foodarticle from a first to a second conveyor. Referring again to FIG. 7b ,in this illustration only one portion is transferred from a first to asecond conveyor. However, any number of portions may be transferred,depending on the particular grading robot utilized. Conveyor belts maybe positioned to keep the transfer between the belts as smooth aspossible. Furthermore, a middle plate can potentially be included, andthe second conveyor may in some examples be positioned a little bitlower than the first conveyor that originally comprises the portion(s)on its surface. FIG. 7c includes a perspective view of a furtherrepresented conveyor system. In this example, a second conveyor and athird conveyor are oriented to follow the first conveyor in itsdirection of movement. In this example, a grading robot may separate oneor more portions of a food article from the remaining portions on thesurface of the first conveyor, such that the movement of the conveyorguides the separated portions onto the second conveyor, while guidingthe remaining portions onto the third conveyor. FIGS. 7(d-f) includeperspective views of a grading robot with a plate transferring portionsof a food article from a first to a second conveyor. In FIG. 7(d), thegrading robot transfers portions from the first conveyor to a secondconveyor oriented perpendicularly with respect to the first conveyor. InFIG. 7(e), the grading robot transfers portions from the first conveyorto a second and a third conveyor that are oriented to follow the firstconveyor in its direction of movement. FIGS. 7(f-g) include perspectiveviews of a two degrees of freedom grading robot comprising a first,splitting plate in the direction perpendicular to the conveyor, and asecond plate at the end of the first, splitting plate that can berotated. FIG. 7(f) shows an example of rotation of the second plantbeing utilized to move portions of the food article from a first to asecond conveyor. In this example, rotation of the plate moves aplurality of portions to a second conveyor oriented in parallel and onthe right side with respect to the first conveyor. FIG. 7(g) shows anexample of rotation of the second plant being utilized to move portionsof the food article from a first to one of two further conveyors. Inthis example, rotation of the plate in one direction moves a pluralityof portions to a second conveyor oriented in parallel and on the leftside with respect to the first conveyor. In this example, rotation ofthe plate in the other direction would move the plurality of portions toa third conveyor oriented in parallel and on the right side with respectto the first conveyor. In some examples, a grading robot comprising aplate may have a further degree of freedom, such that the grading robotcan lift diverting plate(s) from the conveyor. This functionality makessimplifies the task of cleaning the plates following use.

FIG. 7h includes a perspective view of a single degree of freedomgrading robot, wherein the vertically movable support member is orientedat an angle with respect to the conveyor, so as to even further minimizethe chance of damaging and/or changing the orientation and/or alignmentof the other portions of the food article. For example, if the grippedportion(s) is to be moved then the chance of moving further portions isminimized by orienting the the vertically movable support member at anangle, such that the gripped portion will be moved away from the furtherportions when it is moved from its original alignment and orientation onthe conveyor.

FIGS. 7(i-k) include perspective views of a four degrees of freedomgrading robot. FIGS. 7(j-k) specifically include perspective views of afour degrees of freedom grading robot comprising two means for moving atleast one portion of a food article. In this example, the two means formoving at least one portion of a food article can rotate around an axisthat is parallel to the conveyor plane. Referring to FIGS. 7(i-j), afirst means for moving at least one portion of a food article grips aportion of the food article (the pinbone portion of a fish fillet in theillustration of FIG. 7(j)). Referring to FIG. 7k , rotation of thevertically movable support member along the fourth degree of freedommoves the first means for moving at least one portion of a food article,with the gripped portion, away from the surface of the conveyor, whilealso moving a second means for moving at least one portion of a foodarticle into position to grip a further portion.

FIG. 8(a-b) includes perspective views of illustrative realigningsections of a food processing apparatus. FIG. 8a includes a perspectiveview of an example of a realigning section comprising realigningapparatus. FIG. 8b includes a perspective view of illustrative first andsecond realigning sections of a food processing apparatus.

FIG. 9 includes perspective views of a representative system that may beused to align food articles in some embodiments.

FIG. 9(a-c) shows a system including three conveyors. The conveyorfurthest to the left is the first conveyor (e.g., an x-ray conveyor) inthe conveyor's direction of movement. The second conveyor from the leftmay be a retractable infeed conveyor. The conveyor furthest to the rightmay also be a retractable infeed conveyor; for example, where a personstands to ensure that food articles are properly oriented, and/or wouldthat there is a desired spacing between the food articles (e.g., fromoverlapping (less than 0 mm) to 100 mm, from adjacent (0 mm) to 100 mm,from about 10 mm to 100 mm, and about 10 mm). The outfeed end of thefirst conveyor and the infeed end of the second conveyor move togetherin the conveyor's direction of movement as shown with the blue arrow.There may be a product sensor (e.g., an imaging device) associated withthe first conveyor that measures the distance between the food articleson the conveyor. For example, the product sensor may first measure thedistance between consecutive food articles on the conveyor.

In the example shown in FIG. 9(a), the spacing between food article Aand food article B is higher (e.g., more than 100 mm) than the desiredspacing (e.g., about 10 mm). In this case, the system will wait untilfood article A has reached the second conveyor, and then it will movethe outfeed end of the first conveyor and the infeed end of the secondconveyor at the same time, until the spacing between food article A andfood article B is close to the desired spacing (e.g., approximately orexactly the desired spacing).

In the example shown in FIG. 9(b), the desired spacing has been obtainedbetween food article A and food article B. Once a sufficient part offood article B has been transferred over to the second conveyor, theoutfeed end of the first conveyor (and the infeed end of the secondconveyor at the same time) is moved back in the direction opposite towhich the conveyor system is moving, such that it will be ready to moveforward again for the next food article.

In the example shown in FIG. 9(c), the desired spacing has been obtainedbetween all three food articles.

MODE(S) FOR CARRYING OUT THE INVENTION

Disclosed generally herein are food processing systems and apparatuscomprising one or more of: at least one x-ray machine to determine thelocation of undesirable components (e.g., bones) within a food article(e.g., a fish fillet); at least one cutting machine to cut a foodarticle into portions; at least one food grading apparatus for gradingportions of a food article based on different characteristics; and atleast one realigning apparatus, as well as methods utilizing the same.The grading apparatus may be able to grade portions of a food articleoriented parallel to each other and in series with each other withrespect to the direction of movement of a conveyor surface, as isdescribed in further detail below, and may be able to grade portions ofa cut food article from the middle of the article. The grading apparatusmay be able to grade portions while maintaining an original alignmentand orientation of the portions.

The illustrations presented herein are not meant to be actual views ofany particular food processing apparatus, x-ray machine, cuttingmachine, food grading apparatus, realigning apparatus, or componentthereof, but are merely simplified schematic representations employed todescribe illustrative embodiments. The drawings are not necessarily toscale.

Relational Terms: As used herein, any relational term, such as “first,”“second,” “over,” “beneath,” “top,” “bottom,” “underlying,” “up,”“down,” etc., is used for clarity and convenience in understanding thedisclosure and accompanying drawings, and does not connote or depend onany specific preference, orientation, or order, except where the contextclearly indicates otherwise. The terms “vertical” and “horizontal”merely refer to a drawing figure as oriented on the drawing sheet, andin no way are limiting of orientation of a food processing apparatus,food grading apparatus, or any portion thereof.

Alignment: As used herein, the term “alignment” refers to the positionof a food article and the surface of a conveyor in the verticaldimension; for example, the completeness of the contact between a foodarticle and a conveyor surface. In particular examples, a food articlemay be flat, bunched, or folded. In some embodiments, whether thealignment of a food article portion during grading is “substantiallypreserved” may be determined by whether the food article portion(s)remains flat on the surface of the conveyor throughout the process;e.g., the entire bottom surface of the portion retains contactthroughout the process with the surface of the conveyor.

Cutting: As used herein, the term “cutting” includes, for example andwithout limitation: cutting and removing unwanted components (e.g.,bones, cartilage, fat, defects in flesh, tough tissues, skin, blood, andorgans) from a food article, such as a fish fillet, and/or cutting afood article into portions. The term “advanced cut” refers specificallyto the process by which a food article is cut into portions by a cuttingmachine.

Grading: As used herein, the term “grading” refers to a process by whichportions of a food article (e.g., a fish fillet, cut so as to maintainthe resulting portions together in the general shape of the originalfillet; FIG. 1) are separated, for example, according to one or moreselection criteria. In some embodiments, a food article is graded by amethod comprising “movement” of at least one portion of the food articleto an area that is separate from an area including at least one of theremaining portions of the food article. In some examples, a food articleis graded by moving at least one portion of the food article to removethe portion(s) from a conveyor surface.

In series: As used herein, the term “in series” refers to portionsarranged next to each other in a direction in which a conveyor ismoving. In the illustrative cut food article 101 of FIG. 1, portions102, 104, 109, and 112 are in series; i.e., they are next to each otherin the direction 119 the conveyor is moving.

Orientation: As used herein, the term “orientation” refers to theposition of a food article and the surface of a conveyor in the twodimensions of the surface. In some embodiments, whether the orientationof food article portions during grading is “substantially preserved” maybe determined by whether the position of one side (or edge) of the foodarticle portion(s) is maintained throughout the process with respect toan edge of the conveyor. In some examples, “substantial preservation” ofthe orientation of food article portions may be determined by whetherthe general shape of the portion(s) is maintained throughout the processon the conveyor. For example, a bilaterally symmetrical portion may beflipped upside-down on the conveyor in these examples, wherein theorientation is substantially preserved, because the general shape of theportion is maintained.

Parallel: As used herein, the term “parallel” refers to portionsarranged next to each other in a direction perpendicular to thedirection in which a conveyor is moving. In the illustrative cut foodarticle 101 of FIG. 1, portions 106, 107, 108, and 109 are parallel;i.e., they are next to each other in the direction perpendicular to thedirection 119 the conveyor is moving.

Properly (aligned and/or oriented): As used herein, the term “properlyaligned” refers to a food article or portion(s) thereof that is flatagainst a conveyor (e.g., without any folds) upon which the article orportion(s) is being transported, and the terms “proper orientation,”“oriented properly,” and “properly oriented” mean that the food articleor portion(s) thereof is positioned correctly with respect to theconveyor. In other words, the terms “proper orientation and alignment,”“oriented and aligned properly,” and “properly oriented and aligned”mean that the shape of a food article or portion(s) thereof ispositioned in a certain manner with respect to the conveyor and thedirection the conveyor is moving.

Robot: As used herein, the terms “robot” and “device” are usedinterchangeably.

Tray: As used herein, the term “tray” refers to any receptacle for agraded portion of a food article.

FIG. 2 is a top perspective view of a food processing apparatus 200according to some embodiments. The food processing apparatus 200 maydetect and cut undesired portions 117 from food articles, for example,being carried through the food processing apparatus 200 by thedirectional movement of a feed conveyor 208 surface. The food processingapparatus 200 may grade food articles according to certaincharacteristics (e.g., weight, quality, size, type, etc.). For example,the food processing apparatus 200 may be configured to automatically cutpin bones, other bones or bone fragments, cartilage, and/or otherundesirable components from a food article 101. The food processingapparatus 200 may cut the food article 101 into desired portions, 117and grade the portions 117 according to at least one characteristic. Inthe drawings, the food articles are illustrated by way of example asfish fillets; however, the food processing apparatus 200 in otherexamples is used to process and grade any of several different foodarticles (e.g., beef, pork, poultry, lamb, crustaceans, etc.).

The food processing apparatus 200 may be utilized in the meat industryto cut ribs away from a carcass, such that the ribs are not cut, but thefood processing apparatus 200 can cut through other bones in the meatsections. The food processing apparatus 200 may be utilized in thepoultry industry for fully automatic detection and cutting of cartilage,for example, in the front tip of chicken breasts, which commonly remainattached to the breasts after filleting.

An exemplary food processing apparatus 200 according to some embodimentsmay include one or more of each of: a feed conveyor 208; an aligningsection 210; an first x-ray machine 212, 217; a cutting conveyor 214; acutting machine 216; a first imaging system 234; a removal or checksection 244, 254; at least a second imaging system 235; and at least onecomputer.

As shown in FIG. 2, an exemplary food processing apparatus 200 accordingto some embodiments may include a feed conveyor 208; an aligning section210; a first x-ray machine 212; a cutting conveyor 214; a cuttingmachine 216; a first imaging system 234; an automatic removal section244; a (e.g., manual) check section 254; at least a second x-ray machine217; at least a second imaging system 235; a rejection section 220; agrading conveyor 218; at least one grading robot 224; at least oneprocessing conveyor 226; at least one realigning section 800; at leastone realigning apparatus 802; and at least one computer. With regard toeach of the foregoing components of a food processing apparatus 200according to certain embodiments, the computers described independentlyfor each may in some examples be either a single central computer or inother examples a plurality of computers.

As shown in FIG. 2, a pre-trimming line 206 may precede the foodprocessing apparatus 200. On the pre-trimming line 206, fish fillets 101may be manually or automatically trimmed prior to entering the foodprocessing apparatus 200. For example, on the pre-trimming line 206,undesirable components, for example, loose bones, cartilage, parasites,blood spots, or obvious defects in flesh, may be removed from fishfillets 101. In some embodiments, fish fillets 101 within thepre-trimming line 206 may include skin. In some embodiments, the fishfillets 101 may not include skin.

The feed conveyor 208 may follow the pre-trimming line 206, and maytransport fish fillets 101 leaving the pre-trimming line 206 to thealigning section 210. In the aligning section 210, fish fillets 101 maybe properly aligned and placed in a proper orientation prior tocontinuing through the food processing apparatus 200. For example, afish fillet 101 may be properly oriented when a longitudinal length ofthe fish fillet 101 is substantially parallel to a length of a conveyor.As another non-limiting example, a fish fillet 101 may be properlyoriented on a conveyor when a tail portion of the fish fillet 101 ispositioned to come first as the fish fillet 101 is transported on theconveyor.

In some embodiments, alignment and orientation of fish fillets 101 maybe performed manually. In some embodiments, the fish fillets 101 may bealigned and oriented automatically by an imaging device and automatedrobotic arm combination (e.g., a robotic arm may be utilized to rotateor push forward a food article, such as a fish fillet). Accordingly,each fish fillet 101 may be properly aligned and oriented prior to beingfed into the first x-ray machine 212. For example, FIG. 9 shows a systemthat may be used to align food articles in some embodiments.

Fish fillets 101 may be fed one by one into the first x-ray machine 212,which may capture a first x-ray image of each fish fillet 101. The firstx-ray machine 212 may also capture the precise location of bones withineach fish fillet 101. Additionally, the first x-ray machine 212 maycapture the precise location of each fish fillet 101 with respect to thefeed conveyor 208. For example, the food processing apparatus 200 mayinclude the x-ray machine described in U.S. Patent ApplicationPublication No. 2012/0307013 A1, the disclosure of which is incorporatedin its entirety herein by this reference. The first x-ray machine 212may transfer information regarding the location of the bones within eachfish fillet 101, and the location of each fish fillet 101 with respectto the feed conveyor 208 to a computer. The feed conveyor 208 may conveythe fish fillets 101 through the first x-ray machine 212, and then offof the feed conveyor 208 and onto the cutting conveyor 214. In someembodiments, the feed conveyor 208 and/or the cutting conveyor 214 maycomprise one or more of a belt, cords, a plurality of members linkedtogether, etc. The cutting conveyor 214 may feed the fish fillets 101 tobe cut in the cutting machine 216.

The computer may be programmed to track the movement of each fish fillet101 as the fish fillet 101 moves through the food processing apparatus200. The computer may use images taken from the first x-ray machine 212,in addition to information related to the movement of the feed conveyor208 and cutting conveyor 214, to determine an estimated location of eachfish fillet 101 within the food processing apparatus 200. However, someuncertainty may arise as to the precise location of each fish fillet 101within the food processing apparatus 200, for example, when the fishfillet 101 moves from the feed conveyor 208 to the cutting conveyor 214.In some examples, the uncertainty is acceptable to the process. In otherexamples, this uncertainty is unacceptable to the process and moreaccuracy is needed. Therefore, particular examples may include animaging system 234 on the cutting conveyor 214. The imaging system 234may capture a three-dimensional (“3D”) image of each fish fillet 101. Insome examples, the imaging system 234 captures a 3D image of the fishfillet 101 as the fish fillet 101 is disposed on the cutting conveyor214, before the fish fillet 101 is subject to any further manipulationsthat may alter its alignment and/or orientation.

As shown in FIG. 3, the imaging system 234, which may point towards thecutting conveyor 214, in some embodiments may include a 3D camera 302.The imaging system 234 may include a laser 304 that puts a light on thefish fillet 101. In some embodiments, the imaging system 234 may capturea silhouette image or a full color 3D image. In some embodiments, thex-ray image of each fish fillet 101 may be used to generate a 3D imageof the fish fillet 101. In some examples, the intensity of each pixel inthe first x-ray image may be based on the thickness of the fish fillet101. For example, the thinner the fish fillet 101 is, the higher theintensity of a correlating pixel may be, and conversely, the thicker thefish fillet 101 is, the lower the intensity of a correlating pixel maybe. With the 3D camera 302, it may be possible to capture a heightprofile of the fish fillet 101 along the image.

The 3D image of each fish fillet 101 captured by the imaging system 234may provide an accurate measurement of a volume of each fish fillet 101.Furthermore, a color 3D image may provide information as to a locationof fat within the fish fillet 101. The 3D image may also provide moreaccurate information as to the weight distribution of each fish fillet101. For example, the imaging system 234 may transfer the 3D image tothe computer. The computer may be programmed to determine an alignmentand orientation of each fish fillet 101. From any and all of theforegoing information, the computer may adjust cutting procedures(described in further detail below), for example, to account for theparticular alignment and orientation of the fish fillet 101.

The computer may match the first x-ray image of each fish fillet 101captured by the first x-ray machine 212 with the 3D image of each fishfillet 101 captured by the imaging system 234 (e.g., by mapping theimage from tail to head) to determine the precise location of the boneswithin each fish fillet 101 with respect to the cutting conveyor 214. Insome embodiments, this may be accomplished by matching a center ofgravity of the first x-ray image and the 3D image of each fish fillet101, as well as the principle axis of the first x-ray image and the 3Dimage of each fish fillet 101, as described in a mapping procedure ofU.S. Patent Application Publication No. 2012/0307013 A1. In someembodiments, multiple x-ray images may be taken of each fish fillet 101at differing angles, and the multiple resulting x-ray images are matchedusing a coordinate system, as described in U.S. Patent ApplicationPublication No. 2012/0307013 A1. Any combination of the above describedmethods for determining the precise location of bones within a fishfillet 101 may be used. Furthermore, any of the mapping proceduresdescribed in U.S. Patent Application Publication No. 2012/0307013 A1 maybe used.

The computer may determine an individualized cutting pattern for eachfish fillet 101 using information related to the precise location ofbones within each fish fillet 101. For example, the cutting pattern ofeach fish fillet 101 may be determined to cut out portions 117 of thefish fillets 101 containing bones, while minimizing an amount of fleshremoved with the bones. Furthermore, the cutting pattern may also bedetermined based on the weight distribution of the fish fillet 101determined by the first x-ray image and 3D image. Thus, the cuttingpattern can be determined to cut the fish fillets 101 into portions 117of fixed weight, length, and/or in a pattern which optimizes a portion117 yield. The cutting pattern for each fish fillet 101 may besuperimposed onto the first x-ray image of the fish fillet 101, 3D imageof the fish fillet 101, or both. The fish fillet 101 may then be cutinto portions 117 according any of the methods and using any of thecutting machinery described in U.S. Patent Application Publication No.2012/0307013 A1. The cutting machine 216 may include at least onecutting robot 400, which is described in further detail below withreference to FIG. 4. In some examples, a single cut portion 117 of afish fillet 101 may contain all the parts of the fish fillet 101 havingbones, and another cut portion 117 may include all the parts not havingbones. A fish fillet 101 may be cut into a shape that maintains theoutline of the original fish fillet 101, wherein the shape comprisesboth portions 117 that are in series with one another, and into portions117 that are parallel to each other.

FIG. 4 depicts two illustrative cutting robots 400. However, any cuttingrobot (for example, any of the cutting robots described in U.S. PatentApplication Publication No. 2012/0307013 A1) may be used in certainembodiments. The cutting robot 400 may be powered by any means known inthe art, for example and without limitation, air cylinders, motors, andhydraulic powering means. The cutting robot 400 may also use any type ofcutting known in the art, for example and without limitation, waterjetcutting, cutting with rotating knives, and ultrasonic cutting. If waterjet cutting is used any type of cutting head can be used to focus thehigh pressure water into a thin beam that can cut through the foodobjects. The cutting robot 400 may also have any number of degrees offreedom. For example, a cutting robot 400 with a single degree offreedom may move in a direction perpendicular to the cutting conveyor214, or at an angle to the cutting conveyor 214, such that it is capableof make straight cuts across the surface of the cutting conveyor 214.

FIG. 4a illustrates a “delta” or “spider” cutting robot 401 with threedegrees of freedom. If the x-axis is in the direction of movement of thecutting conveyor 214, the y-axis is horizontal to the direction ofmovement of the cutting conveyor 214, and the z-axis is the height fromthe cutting conveyor 214, the “delta” or “spider” cutting robot 401 maybe mounted with a base plate 402 in a plane parallel to the surface ofthe cutting conveyor 214, and at a distance above the surface of thecutting conveyor 214. The “delta” or “spider” cutting robot 401 mayfurther include a parallel plate 404 that is parallel to the base plate402, where a cutting head (not shown) may be mounted. The “delta” or“spider” cutting robot 401 may further include three motors 406, whichmay rotate a solid shaft 408 that is connected with bars 410 to theparallel plate 404. The “delta” or “spider” cutting robot 401 may thenmove freely in the x-, y-, and z-direction within a moving envelope. Incertain examples, the moving envelop may be about 200 mm in thez-direction, and about 600-800 mm in the x- and y-direction.

As illustrated in FIG. 4b , the cutting robot 400 may be a four degreesof freedom cutting robot 412, where the additional degree of freedomallows the four degrees of freedom cutting robot 412 to cut a fishfillet 101 at a certain angle. In such an embodiment, the four degreesof freedom cutting robot 412 may include a motor 414 at the top of thebase plate 402 that can rotate the shaft 416. The shaft 416 may beconnected to a perpendicular gear 418 that is connected to a parallelplate 404. A cutting head 420 may be connected to the perpendicular gear418, such that a rotation of the cutting head 420 can be performed. Insome examples, the cutting head 420 can rotate around any axis in itsmoving envelope that is parallel to the x-axis.

In some embodiments, the cutting robot 400 may be a six degree offreedom cutting robot (not shown). A six degree of freedom cutting robotmay be able to move freely in the x-, y-, and z-direction, and also beable to rotate around the x-, y-, and z-axis to perform arbitrary cuts.

In some embodiments, during cutting procedures, an alignment andorientation of each fish fillet 101 with respect to the cutting conveyor214 may be at least substantially preserved. In some embodiments, thealignment and/or orientation of the fish fillet 101 may be disturbed. Inparticular embodiments, the cutting machine 216 may include a scraperlocated proximate a top surface of the cutting conveyor 214. The scrapermay be so located as to contact the now cut portions 117 of the fishfillet 101 and to generally realign portions 117 that have moved out ofthe original alignment and orientation.

Referring to again to FIG. 2, the cutting machine 216 may include anautomatic removal section 244. The automatic removal section 244 mayinclude at least one robotic arm 500 (as described in more detail belowin FIG. 6) following the at least one cutting robot 400 of the cuttingmachine 216, for removing cut portions 117 of a fish fillet 101 havingbones. A robotic arm 500 of a food processing apparatus 200 may also be,for example, a grading robot 224, as described in further detail below.This removal process may be performed while the cut fish fillets 101 arestill on the cutting conveyor 214, as the most accurate informationabout the precise location of the portions 117 and bones is available.The computer may control the at least one robotic arm 500 and direct theat least one robotic arm 500 to grip portions 117 of a fish fillet 101having bones, and to remove the portions 117 from the cutting conveyor214. For example, portions 117 of the fish fillets 101 known to havebones (e.g., a pin bone section) may be automatically removed by the atleast one robotic arm 500. Furthermore, portions 117 of the fish fillets101 that are indicated as having bones in the first x-ray image or 3Dimage may be removed.

FIG. 5 is a perspective view of a robotic arm 500 of the food processingapparatus 200 of FIG. 2. In some embodiments, at least one robotic arm500 may grip a portion 117 of a cut fish fillet 101, and slide theportion 117 off of a side of the cutting conveyor 214 into a firstconveyor or tray 252.

As shown in FIG. 5, a robotic arm 500, located in the automatic removalsection 244 and proximate the exit of the cutting machine 216, mayinclude a gripper 502, a first motor 504, a second motor 506, a firstcontrol arm 508, and a second control arm 510. The first control arm 508may be coupled to the first motor 504 at a first end of the firstcontrol arm 508, and may be coupled to the gripper 502 at a second endof the first control arm 508. The second control arm 510 may be coupledto the second motor 506 at a first end of the second control arm 510,and may be coupled to the gripper 502 at a second end of the secondcontrol arm 510. The first motor 504 and second motor 506 may becontrolled by a computer. The first motor 504 may rotate the firstcontrol arm 508 about the first end of the first control arm 508. Thesecond motor 506 may rotate the second control arm 510 about the firstend of the second control arm 510. When the first ends of the first andsecond control arms 508, 510 are rotated, the second ends of the firstand second control arms 508, 510 may manipulate the gripper 502. Forexample, the computer may control the first and second motors 504, 506to move the first and second control arms 508, 510, respectively, and,in turn, manipulate the gripper 502 to grip portions 117 of a cut fishfillet 101 containing bones. The computer may further manipulate thegripper 502 to dispose the portions 117 of the fish fillet 101containing bones in a first conveyor or tray 252. In some embodiments,the gripper 502 is rotated with an actuator; for example and withoutlimitation, an air cylinder, motor, linear motor, traditional motor, orsolenoid (not shown in images).

In particular embodiments, the gripper 502 may include a hook that canbe slipped under a portion 117 to be removed, or stuck into the portion117 to be removed. In particular embodiments, the gripper 502 mayinclude at least two members that can clamp or press the portion 117between the two members. In particular embodiments, the gripper 502 mayinclude a suction member that uses a vacuum to suck the portion 117against the gripper 502. In particular embodiments, the at least onerobotic arm 500 may include the robotic gripper unit described in U.S.Patent Application Publication No. 2012/0307013 A1, and/or may includethe associated gripper described in U.S. Patent Application PublicationNo. 2012/0307013 A1. In particular embodiments, the at least one roboticarm 500 may be replaced with at least one grading robot 224, which isdescribed above and in further detail below in relation to FIG. 6, andFIG. 7.

In some embodiments, the first conveyor or tray 252 may comprise a box,bin, tub, and/or basket. In some embodiments, the at least one roboticarm 246 may grip a portion 117 and lift the portion 117 off of thecutting conveyor 214 and subsequently place the portion 117 in the firstconveyor or tray 252. In some examples, the alignment and orientation ofthe portions 117 of the fish fillet 101 not containing bones are notsubstantially disturbed during the removal process. In other words, analignment and orientation of the portions 117 not containing bones maybe preserved, while portions 117 containing bones are removed. Theremoval process may be fully automatic, and may be controlled by thecomputer, for example, based on at least one of the first x-ray image,3D image, and cutting pattern of each fish fillet 101. In someembodiments, the cutting machine 216 may include a robotic arm 500similar to the any of the robotic arms described in U.S. PatentApplication Publication No. 2012/0307013 A1.

The food processing apparatus 200 may optionally include a check section254 following the cutting machine 216 and automatic or manual removalsection 244. In some embodiments, the cutting machine 216 may notinclude the at least one robotic arm 246, and the check section 254 mayserve to remove portions 117 of a fish fillet 101 containing anundesirable component; for example, bones. In some embodiments includingthe at least one robotic arm 246, the check section 254 may be utilizedto ensure that after the fish fillet 101 has been cut, and portions 117removed by the at least one robotic arm 246, that all portions 117containing bones have been removed. Portions 117 containing bones thatare removed in the check section 254 and placed in a second conveyor ortray 253. In some examples, the check section 254 is a manual checksection 254. In some embodiments, the food processing apparatus 200 maynot include a check section 254, and may include just the at least onerobotic arm 246 for removing portions 117 of fish fillets 101 havingbones. All portions 117 of a fish fillet 101 placed in the first andsecond conveyors or trays 252, 253 may then be taken to be used in otherproducts and applications. The alignment and orientation of theremaining portions 117 may be preserved.

As shown in FIG. 2, a fish fillet 101 may be moved into a second x-raymachine 217. The second x-ray machine 217 may function the same as thefirst x-ray machine 212, with similar components, and may take a secondx-ray image of the fish fillet 101. The second x-ray machine 217 mayx-ray and capture second x-ray images of the remaining portions 117,which may be oriented parallel to each other, in series with each other,or both. The second x-ray machine 217 may transfer the second x-rayimages to the computer. The computer may be programmed to determine,based on the second x-ray images from the second x-ray machine 217,whether any bones remain in any of the remaining portions 117 of thefish fillet 101. Furthermore, the computer may be programed to determinefrom the second x-ray images whether the fish fillet 101 has beenadvanced cut by the cutting machine 216.

In some embodiments, the second x-ray images may be utilized by thecomputer, for example and without limitation, to control a pull-backconveyor (not pictured) that directs portions 117 that still containbones onto another conveyor (not pictured) while the remaining portions117 that are bone-free may move onto the grading conveyor 218. In someexamples, the bones from the portions 117 that still contain bones maybe manually removed, and the manually-processed portions 117 may bemoved again through the second x-ray machine 217. By way of furtherexample, the second images may be utilized to provide feedback to thecomputer controlling the cutting robot 400 about the performance of thecutting. In certain examples wherein the cutting machine 216 has atendency to leave bones in portions that are supposed to be bone-free,this feedback is important for correcting this tendency, but thefeedback may also assist in optimizing yield.

Optimization of the yield following the cutting process occurs whenthere is some error rate in which operation of the cutting robot 400fails to completely cut away all of a bone or bone fragment into aportion for removal. For example, when a computer is controlling thecutting robot 400 to make the closest cut possible to the bone or bonefragment, the rate of errors is likely to increase. Conversely, when acomputer is controlling the cutting robot 400 to minimize the occurrenceof such errors, the amount of flesh left in portions 117 containingbones is likely to increase. Therefore, in some embodiments, the secondx-ray images may be utilized to provide feedback to the computercontrolling the cutting robot 400 about the error rate, and the computercontrolling the cutting robot 400 may adjust the operation of thecutting robot 400 to approach an optimal error rate (e.g., a non-zerorate of bones and bone fragments remaining in cut portions 117).

Further optimization of the yield can be obtained by inspecting theportions 117 containing bones that are identified by the second x-raymachine 217, as the characteristics of the extra tissue on thoseportions can then be evaluated.

In some embodiments, the remaining portions 117 of the fish fillet 101may move from the cutting conveyor 214 to the grading conveyor 218,while at least substantially maintaining the alignment and orientationof the remaining portions 117. The grading conveyor 218 may be larger inwidth than the cutting conveyor 214, to allow for more portion positions256 during the grading process, as described in further detail below.Furthermore, the grading conveyor 218 may include one or moresub-conveyors in series. In some embodiments, one or more sub-conveyorsforming the grading conveyor 218 may vary in size and rate of movement.The grading conveyor 218 may feed the remaining portions 117 of the fishfillet 101 through a rejection section 220. The rejection section 220may remove an entire fish fillet 101 from the grading conveyor 218 that,for some reason, may not have been cut into portions 117 in the cuttingmachine 216. For example, the rejection section 220 may include ascraper to slide an uncut fish fillet 101 off of the grading conveyor218 and into a tray or onto a separate conveyor for further processing.The rejection section 220 may send data to a computer about an uncutfish fillet 101, and the computer may be programmed to adjust or improvecutting procedures based on the data.

As shown in FIG. 2, a fish fillet 101 may be moved into to a secondimaging system 235, which may function the same as the first imagingsystem 234, with similar components. For example, a laser 304 mayilluminate the portions 117, and a 3D camera 302 may transfer a 3D imageto a computer programmed to determine features comprising, for exampleand without limitation, the location of fat, color, gaping, and othervisual defects. In some examples, the second imaging system 235 capturesa 3D image of a portions 117 as the portion 117 is disposed on areceiving conveyor, before the fish fillet 101 is subject to any furthermanipulations that may alter its alignment and/or orientation (e.g., agrading conveyor 218). Using certain wavelengths, the laser 304 mayprovide a 3D image utilized by the computer to detect parasites. Fromany and all of the foregoing information, the computer may adjustgrading procedures (described in further detail below), for example, tograde the portions 117 according to these features.

In some embodiments, the remaining portions 117 of the fish fillet 101may move from the second imaging system 235 into one or more furthercutting machines 216, either directly, or after or betwixt gradingprocedures. In particular embodiments, the computer uses the informationgathered from processing the 3D image to adjust or control cuttingprocedures in a further cutting machine 216.

In embodiments, the grading conveyor 218 may feed the portions 117 of acut fish fillet 101 through a grading section 222 of the food processingapparatus 200. The grading section 222 may include at least one gradingrobot 224, at least one tub 258 beneath the grading conveyor 218, and aplurality of processing conveyors 226. As the remaining portions 117pass under the grading robot(s) 224, the computer may direct the gradingrobot(s) 224 to move portions 117 of a fish fillet 101. The gradingrobot 224 may be selected from the group consisting of a needle gradingrobot 600, as described further below with respect to FIG. 6; atwo-degree of freedom grading robot 700, as described further below withrespect to FIG. 7; a three degrees of freedom grading robot; a fourdegrees of freedom grading robot; and a gripper grading robot 601, asdescribed further below.

The grading robot(s) 224 may be able to remove portions 117 of a fishfillet 101 still containing bones from the grading conveyor 218 and intothe at least one tub 258. The at least one grading robot 224 may be ableto move the portions 117 of a fish fillet 101 directly onto one of theplurality of processing conveyors 226. The grading robot(s) 224 may beable to move in the direction of movement of the grading conveyor 218,so that the grading robot(s) 224 remain above the portions 117 while themovement of the portions 117 is carried out.

In some embodiments, the at least one grading robot 224 may be capableof moving to a side of the grading conveyor 218, such that the gradingrobot 224 is not directly above the grading conveyor 218 but rather, maybe directly above one of the plurality of processing conveyors 226 orthe at least one tub 258. In some embodiments, a top surface 262 of atleast one of the plurality of processing conveyors 226 may be at leastsubstantially coplanar with a top surface 264 of the grading conveyor218. In particular embodiments, the alignment and orientation of theportions 117 of a fish fillet 101 may be substantially preserved when agrading robot 224 moves the portions 117 from the grading conveyor 218to a processing conveyor 226 having a top surface 262 substantiallycoplanar with the top surface 264 of the grading conveyor 218. Inparticular embodiments, a top surface 262 of the processing conveyor 226may be lower than the top surface 264 of the grading conveyor 218, suchthat, when moved, the portions 117 are slid off the grading conveyor 218by a grading robot 224 and dropped onto the processing conveyor 226.

In some embodiments, a fish fillet 101 may be cut and portions 117 ofthe cut fish fillet 101 graded at the same time. In particularembodiments, the grading is performed simultaneously as part of thecutting process. For example, the cutting robot 400 may be the samerobot as the grading robot 600.

In some embodiments, a grading robot 224 may organize the portions 117of a fish fillet 101 to different areas (portion positions 256) of thegrading conveyor 218 according to different characteristics of theportions 117. For example, in some embodiments, a grading robot 224 maybe controlled to move the tail portion of a fish fillet 101 to a certainportion position 256 of the grading conveyor 218, and to move all of theloin portions of the fish fillets 101 to another portion position 256 ofthe grading conveyor 218. In some embodiments, a grading robot 224 mayorganize the portions 117 of a fish fillet 101 according to a weight ofthe portions 117. For example, the grading robot 224 may be controlledto move all portions 117 having a weight within a first range of weightto a certain portion position 256 of the grading conveyor 218, andoptionally to move all portions 117 having a weight within a secondrange of weight to another portion position 256 of the grading conveyor218. In some embodiments, the at least one grading robot 224 mayorganize the portions 117 of a fish fillet 101 according to one or moremetric and/or criterion of size, type, or quality. The different portionpositions 256 of the grading conveyor 218 may be designated as leadingto different processes. For example, the different portion positions 256of the grading conveyor 218 may lead to different processing conveyors226 or trays, which in turn, may lead to any of multiple differentprocesses. Such processes may include one or more of packaging,breading, freezing, further cutting, and any other known process forfood processing.

In some embodiments, a grading robot 224 may be able to move one or moreportion(s) 117 from a group of portions 117 that are oriented parallelto each other without disturbing the alignment and orientation of theother portions 117 in the group. For example, with reference to FIG. 1,the grading robot 224 may be able to move portion 117 two from portions117 four and five, without disturbing the alignment and orientation ofportions 117 four and five. In particular embodiments, the alignment andorientation of the cut portions 117 may be substantially preserved whenthe grading robot 224 moves the portions 117 from the grading conveyor218. The substantial preservation of orientation and/or alignment ofportions during grading may provide an advantage over previously knowngrading robots that are limited to grading portions 117 that are inseries. For example, previously known grading robots, such as scrapers,move across a conveyor and remove any portions 117 along a path of thescraper. Thus, previously known grading robots are unable to grade asingle portion 117 of a group of portions 117 that are oriented parallelto each other.

At least one of the grading robot(s) 224 may be able to move a portion117 of a fish fillet 101 without damaging the delicate flesh of theportions 117. For example, at least one grading robot 224 may be aneedle grading robot 600 as described in FIG. 6, which includes at leastone needle 602 that can be inserted into the flesh of each portion 117without damaging the flesh. A computer, based on one or more of thesecond x-ray image, 3D image, first x-ray image, and estimated locationof the portion 117, may control the needle grading robot 600 to alocation in line with a center area of a portion 117 to be moved. Thecomputer may then control the needle grading robot 600 to lower theneedle(s) 602 into the center area of the portion 117 to be moved. Theneedle grading robot 600 may then be directed to move the portion 117 toa portion position 256, by moving the needle(s) 602 to the portionposition 256 without retracting the needle(s) 602 from the portion 117,according to the selected function of the needle grading robot 600.

Having at least one needle 602 to puncture the portions 117 may providean advantage over previously known grading robots. For example,previously known robots used to grade delicate food products oftendamage the flesh by breaking, crushing, or tearing the flesh of theportion 117 while moving the portion 117, for example, by pressing theflesh between two members. On the other hand, by puncturing the portions117 with at least one needle 602, the flesh may not be broken, crushed,torn, or otherwise damaged. Furthermore, using at least one needle 602to puncture the portions 117 may allow the alignment and orientation ofthe portions 117 to be maintained during grading. Contrariwise, pressingthe portions 117 between two members can cause folds in the flesh thatcan disrupt the alignment or orientation of the portions 117.

In some embodiments, the alignment and orientation of the portions 117may have to be maintained during the grading process for subsequentprocesses such as, for example, packaging and freezing processes.Accordingly, moving the portions 117 with at least one needle 602 mayalso provide an advantage over moving the portions 117 with scrapers,which are often used to move portions 117 of food articles 101 on aconveyor by placing a scraper to one side of the portion 117, andpushing the portion 256 to a desired location. Using a scraper to movethe portions 117 can also cause folds in the flesh, which can disruptthe alignment and orientation of the portions 117. On the other hand,using at least one needle 602 to move the portions 117 may help tomaintain the alignment and orientation of the portions 117 for furtherprocesses. For example, multiple needles 602 may be used to puncture aportion 117 and the multiple needles 602 may be spaced throughout theportion 117. Having multiple needles 602 contacting multiple locationsthroughout the portion 117 while the portion 117 is moved may assist inmaintaining the alignment and orientation of the portion 117 for furtherprocesses.

Referring again to FIG. 6, a needle grading robot 600 may include afirst mounting member 603, a second mounting member 604, a firstactuator (e.g., air cylinder 606, motor, linear motor, traditionalmotor, and solenoid), a second actuator 608, a first guide member 610, asecond guide member 612, a horizontally movable support member 614, avertically movable support member 616, a laser sensor 618, at least oneneedle 602, and a release mechanism 620.

The first mounting member 603 and second mounting member 604 may extendup from a base member 622 of the grading conveyor 218, and may extendabove the grading conveyor 218. The first guide member 610 may behorizontally mounted to the first mounting member 603 and the secondmounting member 604. The first guide member 610 may be sufficientlyspaced from the top surface of the grading conveyor 218, such that aportion 117 may pass thereunder. A length of the first guide member 610may be longer that than a width of the grading conveyor 218, such thatthe first guide member 610 extends out past the first and secondmounting members 603, 604, and extends out past side surfaces of thegrading conveyor 218 to allow for a grading robot 224 to place aportions 117 directly onto processing conveyors 226 next to the gradingconveyor 218, as discussed above.

The horizontally movable support member 614 may be slidable back andforth along the first guide member 610 in at least substantiallyhorizontal directions. The second guide member 612 may be mounted to thehorizontally movable support member 614. The vertically movable supportmember 616 may be slidable up and down along the second guide member 612in at least substantially vertical directions.

The first air cylinder 606 may be attached at one end to thehorizontally movable support member 614, and may be attached at anotherend to the second mounting member 604. The second air cylinder 608 maybe attached at one end to the second guide member 612, and attached atanother end to the vertically movable support member 616. At least oneneedle 602 may be attached to a lowermost portion 624 of the verticallymovable support member 616, and a length of the needle(s) 602 may beoriented in a direction at least substantially normal to the top surfaceof the grading conveyor 218. In some examples, the needle(s) 602 mayhave an outer diameter, for example and without limitation, within arange of 0.5 mm to 2 mm; or within a range of 0.1 mm to 0.4 mm; within arange of 2 mm to 5 mm. The release mechanism 620 may be attached to thelowermost portion 624 of the vertically movable support member 616proximate at least one needle 602. The laser sensor 618 may be disposedproximate the second mounting member 604, and may track the position ofthe second guide member 612 and vertically movable support member 616.

A computer may control the operation of the at least one grading robot224. In operation, the computer may determine an estimated location of aportion 117 to be moved based on one or more of the second x-ray image,3D image, first x-ray image, movement of the cutting conveyor 214, andmovement of the grading conveyor 218. Based on the estimated location ofthe portion 117 to be moved, the computer may cause the horizontallymovable support member 614 to move horizontally until at least oneneedle 602 attached to the lowermost portion of the vertically movablesupport member 624 is oriented over a center of a projected path of theportion 117 to be moved. The laser sensor 618 may be used to determinewhen the vertically movable support member 616 is correctly orientedover the center of the projected path of the portion 117. Thehorizontally movable support member 614 is moved, for example, bypumping air into or sucking air out of a first air cylinder 606. Bypumping air into or sucking air out of the first air cylinder 606, thefirst air cylinder 606 may be caused to extend or retract. By extendingor retracting the first air cylinder 606, the first air cylinder 606 maypush or pull the horizontally movable support member 614 along the firstguide member 610. By pushing or pulling the horizontally movable supportmember 614, the at least one needle 602 may be moved along the firstguide member 610 and across the width of the grading conveyor 218.

Once at least one needle 602 has been oriented over the center of theprojected path of the portion 117 to be moved, the computer maydetermine, for example, based on the estimated location of the portion117 and based on the movement of the grading conveyor 218, exactly whenthe portion 117 will be directly underneath the needle(s) 602. Thecomputer may then cause the vertically movable support member 624 tomove downwards towards the portion 117 such that the needle(s) 602penetrates at least partially the flesh of the portion 117 to be moved.The vertically movable support member 624 is moved downwards by theaction of a second actuator, for example, by pumping air into a secondair cylinder 608 and extending the second air cylinder 608. Once the atleast one needle 602 has penetrated the flesh of the portion 117 to bemoved, that portion 117 can be moved by moving the horizontally movablesupport member 614 according to the above described procedure.

After the portion 117 has been moved by a needle grading robot 600, atleast one needle 602 may be retracted from the flesh of the portion 117.In some embodiments, the procedure may happen naturally, for example,when the portions 117 are dropped into a tub 258. In such examples, theportions 117 may naturally fall of the needle(s) 602. In someembodiments, a release mechanism 620 may be used to press against theportion 117 as the at least one needle 602 is lifted. At least oneneedle 602 may be lifted, for example, by sucking air out of a secondair cylinder 608 and retracting the second air cylinder 608. Byretracting the second air cylinder 608, the vertically movable supportmember 624, to which the needle(s) 602 is attached, may be pulled upalong the second guide member 612 by the second air cylinder 608. Oncethe vertically movable support member 624 has been moved up and the atleast one needle 602 retracted from the portion 117, the grading processmay begin again and may repeat the above described process in relationto another portion 117 to be moved.

In some embodiments, a needle grading robot 600 may include a pluralityof needles 602 oriented linearly in a direction parallel to thedirection the grading conveyor 218 is moving. In some embodiments, aneedle grading robot 600 may include a plurality of needles 602 orientedlinearly in a direction perpendicular to the direction the gradingconveyor 218 is moving. In some embodiments, a needle grading robot 600may include a plurality of needles 602 oriented in a shape of one ormore of, for example and without limitation, a square, circle, triangle,or cross. For example, the orientation of the plurality of needles 602may be chosen based on a projected function of a specific needle gradingrobot 600. For example, based on the shape of a portion 117 to be moved,certain orientations of the plurality of needles 602 may be bettersuited to maintain the alignment and orientation of the portion 117.

In some embodiments, where the needle grading robot 600 includes aplurality of needles 602, the plurality of needles 602 may all bepointed in a direction substantially normal to the top surface of thegrading conveyor 218. In some embodiments, the plurality of needles 602may be pointed in directions not substantially normal to the top surfaceof the grading conveyor 218. For example, the plurality of needles 602may be pointed in directions, such that if the plurality of needles 602touched the top surface of the grading conveyor 218, an angled formedbetween each needle 602 of the plurality of needles 602 and the topsurface of the grading conveyor 218 would be an acute angle. In someembodiments, the plurality of needles 602 may include crossing needles602.

In some embodiments, a grading robot 224 may lift a portion 117 from thetop surface of the grading conveyor 218 in order to place the portion117 in a portion position 256 on the grading conveyor 218, or to liftthe portion 117 from the top surface of the grading conveyor 218 toremove the portion 117 from the grading conveyor 218, for example andwithout limitation, into a tray or bin or onto another conveyorentirely. In particular embodiments, a grading robot 224 that lifts aportion 117 from the top surface of the grading conveyor 218 maycomprise a gripper (a “gripper grading robot” 601). As described abovewith regard to a robotic arm 500, a gripper may include, for example andwithout limitation, a hook that can be slipped under a portion 117 to beremoved, or stuck into the portion 117 to be removed, at least twomembers that can clamp or press the portion 117 between the two members,a suction member that uses a vacuum to suck the portion 117 against thegripper, and/or any gripper described in U.S. Patent ApplicationPublication No. 2012/0307013 A1.

As shown in FIG. 6(b), a needle grading robot 600 may be adapted to lifta portion 117 from the top surface of the grading conveyor 218 in orderto place the portion 117 in a portion position 256 on the gradingconveyor 218, or to lift the portion 117 from the top surface of thegrading conveyor 218 to remove the portion 117 from the grading conveyor218. FIG. 6(c)-(d) show at least one needle 602 attached to a lowermostportion 624 of the vertically movable support member 616 according toparticular embodiments. In the needle grading robot 600 of FIG. 6(c),the at least one needle 602 is disposed in eight sets of three needles602, wherein two sets of three needles 602 are disposed in an area ofthe distal surface of the lowermost portion 624 of the verticallymovable support member 616, and the needles 602 are positioned proximatethe vertically movable support member 616. In the needle grading robot600 of FIG. 6(c), the distal surface of the lowermost portion 624 of thevertically movable support member 616 is separated into four areas.

To grip a portion 117 to slide or lift the portion 117, the needles 602are moved to a position distal the vertically movable support member616, piercing the flesh of the portion 117, as shown in FIG. 6(d). Anymethod may be used to extend the needles to a position distal thevertically movable support member 616, for example, air compression. Thesets of needles 602 shown in FIGS. 6(c)-(d) may be moved separately insome examples, according to the grading application. For example, tomove small portions 117 only needle 602 set “one” may be extended; tomove a bigger, longer portion 117, both needle 602 sets “one” and “two”may be extended; and to move a shorter, wider portion 117, both needle602 sets “one” and “three” may be extended; and to move a longer, biggerportion 117, all of needle 602 sets “one,” “two,” “three,” and “four”may be extended.

In some embodiments, a needle grading robot 600 or gripper grading robot601 may be capable of rotation in a plane parallel to the surface of thegrading conveyor 218, for example, to orient or reorient a portion 117on the surface of the grading conveyor 218. For example, as shown inFIG. 4 with regard to a cutting robot 400, the needle grading robot 600or gripper grading robot 601 may include a motor 414 that can rotate,directly or indirectly, the vertically movable support member 616. Thus,in some examples, the vertically movable support member 616 can rotatearound any axis in its moving envelope that is parallel to the x-axis(e.g., the surface of the grading conveyor 218).

In particular embodiments, a needle grading robot 600 (e.g., as shown inFIGS. 6(c)-(d)) may be utilized to lift a plurality of portions 117, forexample, before they are moved to a different position on the topsurface of the grading conveyor 218, or removed from the top surface ofthe grading conveyor 218. Such embodiments may in some examples providethe particular advantage of advantage to increasing capacity, forexample, when the plurality of portions 117 are removed from the topsurface of the grading conveyor 218. In some examples, a single needlegrading robot 600 may be utilized to lift a plurality of portions 117 ofa fish fillet 101 that each contain, for example, a bone or bonefragment. For example and without limitation, and with reference to FIG.1, a single needle grading robot 600 may be utilized to lift portions117 “ten” and “twelve.” In this example, both needle 602 sets “one” and“two” may be utilized to grip portion 117 “ten,” and needle 602 set“four” may be utilized to grip portion 117 “twelve.” For example andwithout limitation, the needle grading robot 600 may be moved to thedesired position (e.g., a different position on the top surface of thegrading conveyor 218, or a position that is removed from the top surfaceof the grading conveyor 218), and both pieces may be released from thegripper, either individually, or at the same time. By way of furtherexample, the needle grading robot 600 may be moved to a first desiredposition of a first portion 117 (e.g., a different position on the topsurface of the grading conveyor 218), the first portion 117 may bereleased from the gripper at the first position, the needle gradingrobot 600 may then be moved to a second desired position of a secondportion 117, and the second portion 117 may be released from the gripperat the second position (e.g., a position that is removed from the topsurface of the grading conveyor 218).

By lifting the portion 117 from the top surface of the grading conveyor218, the grading robot(s) 224 may maintain an orientation of the portion117 while moving the portion 117 to another conveyor. For example,moving a portion 117 from the grading conveyor 218 to a processingconveyor 126, wherein the top surface 164 of the grading conveyor 118 issubstantially coplanar with the top surface 162 of the processingconveyor 126, sliding the portion 117 along the top surfaces of thegrading conveyor 218 and another conveyor, may subject the portion 117to conveyors traveling in different directions when the portion 117 ismoved from the grading conveyor 218 to the other conveyor. Accordingly,the portion 117 is likely to at least partially rotate such that theorientation of the portion 117 is disturbed. Thus, by lifting theportion 117, a change in orientation may be avoided.

In some embodiments, at least one grading robot 224 may slide theportion 117 along the top surface of the grading conveyor 218 to aportion position 256 on the grading conveyor 218, as described above. Insome embodiments, the grading robot(s) 224 may slide the portion 117completely off of the top surface of the grading conveyor 218 and into atray or tub 258 or onto another conveyor, as described above. Inparticular embodiments, a grading robot 224 that slides a portion 117along the top surface of the grading conveyor 218 to a portion position256 on the grading conveyor 218 may be a two degrees of freedom gradingrobot 700.

As shown in FIG. 7a , an illustrative two degrees of freedom gradingrobot 700 according to some embodiments may include a horizontalactuator, for example and without limitation, an air cylinder 702, aplate 704, and a sensor 706. The horizontal air cylinder 702 may becapable of movement in arbitrary positions in the directionperpendicular to the direction of movement of the grading conveyor 218.The sensor 706 provides feedback on the actual horizontal position ofthe plate 704 to a computer. Based on the estimated location of theportion 117 to be moved, the computer may cause the horizontal aircylinder 702 to move the plate 704 to push the portion 117 to anotherportion position 256 on the grading conveyor 218, or off of the gradingconveyor 218, for example and without limitation, into a tray or bin oronto another conveyor entirely. The pushing plate 704 may be so thinthat it can potentially be used to go between certain portions 117 whenthere are more than one piece parallel on the belt.

In some embodiments, the grading section 122 of the food processingapparatus 100 may include a separating block at any location within thegrading section 122. In some embodiments, the separating block may havea triangular shape, and may be suspended above the top surface 164 ofthe grading conveyor 118, but may be suspended close enough to the topsurface 164 of the grading conveyor 118 for the portions 104 of a fishfillet 102 to contact the separating block. In embodiments where theseparating block has a triangular shape, the separating block may bepointed (a tip of the triangle pointed) in a direction opposite to thedirection in which the grading conveyor 118 is moving. Thus, when aportion 104 of a fish fillet 102 contacts the separating block, theportion 104 may slide along a side of the separating block, and may bemoved in a direction perpendicular to the direction in which the gradingconveyor 118 is moving and toward an outside edge of the gradingconveyor 118, until the portion 104 reaches a base of the separatingblock. Thus, the separating block may serve to separate portions 104that are oriented parallel to each other.

In some embodiments, the base of the separating block may have a widthless than the width of the grading conveyor 118, such that theseparating block may serve to move the portions 104 to different areasof the grading conveyor 118. In some embodiments, the grading section122 may include secondary conveyors disposed to either side of thegrading conveyor 118 in conjunction with a separating block. In suchembodiments, the base of the separating block may have a width that isequal to or wider than the width of the conveyor belt, such that when aportion 104 of a fish fillet 102 contacts the separating block, theportion 104 is moved off of the grading conveyor 118 and onto one of thesecondary conveyors. In some embodiments, the secondary conveyors maymove at a rate faster than the grading conveyor 118 to further separatethe portions 104 from each other in a direction parallel to thedirection in which the secondary conveyors are moving.

In some embodiments, the grading section 222 may include multiplegrading robots 224 that perform different grading functions. Forexample, a first grading robot 224 may remove portions 117 that containbones into a tub 258, and a second grading robot 224 may, for example,grade the remaining portions 117 according to type, such as tailportions or loin portions. Furthermore, a third grading robot 224 may,for example, grade each type of portion 104 according to weight. Thus,each portion 117 may be graded according to multiple characteristics. Insome embodiments, multiple grading robots 224 may be used to perform asingle grading function. For example, multiple grading robots 224 may beused to remove portions 117 having bones, while other multiple gradingrobots 224 are used to organize the portions 117 according to anothercharacteristic of the portions 117.

In some embodiments, a first group of grading robots 224 may be locatedon a first sub-conveyor of the grading conveyor 218 and may becontrolled by a computer to perform a first function, and a second groupof grading robots 224 may be located on a second subsequent sub-conveyorof the grading conveyor 218 and may be controlled by a computer toperform a second function. In particular embodiments, the firstsub-conveyor and second sub-conveyor of the grading conveyor 218 mayhave different widths to accommodate the first and second functions,respectively. In particular embodiments, the grading conveyor 218 mayinclude additional sub-conveyors with respective groups of gradingrobots 224 that perform yet other functions. In some examples, eachsub-conveyor of the grading conveyor 218 may have a plurality ofprocessing conveyors 226 associated with the sub-conveyor.

In some embodiments, the alignment and/or orientation of a portion 117may need to be changed or adjusted to allow for further processing. Forexample, for processes having in-feeds perpendicular to a direction inwhich the grading conveyor 218 is moving (“perpendicular in-feeds”), theportion 117 may need to be oriented such that a length of the portion117 is oriented perpendicular to a direction in which the perpendicularin-feeds are moving, as shown in FIG. 2. In particular embodiments, thefood processing apparatus 200 may include at least one realigningsection 800 for each process that needs realignment for the process. Arealigning section 800 may include at least one realigning apparatus802. A realigning apparatus 802 is described in further detail inrelation to FIG. 8.

FIG. 8a is a top perspective view of a realigning section 800 accordingto some embodiments. As shown in FIG. 8, the realigning section 800 mayinclude at least one realigning apparatus 802. The realigning apparatus802 may be disposed at an end of the grading conveyor 218, and above aperpendicular in-feed processing conveyor 804. The realigning apparatus802 may include a first mini-conveyor 806, a second mini-conveyor 808,and at least one actuator (e.g., air cylinder 810, motor, linear motor,traditional motor, and solenoid). The first mini-conveyor 806 and secondmini-conveyor 808 may be oriented at an acute angle to each other, suchthat the first mini conveyor 806 and the second mini conveyor 808 form aV-shape. The first mini-conveyor 806 and second mini-conveyor 808 may bemounted above the perpendicular in-feed processing conveyor 804, suchthat a length of each of the first mini-conveyor 806 and secondmini-conveyor 808 is at least substantially perpendicular to a length ofthe perpendicular in-feed processing conveyor 804, and the direction inwhich the perpendicular in-feed processing conveyor 804 is movingportions 117.

When the first mini-conveyor 806 and second mini-conveyor 808 areoriented such that the first and second mini-conveyors 806, 808 form aV-shape, a point 816 of the V-shape may be lower than the top surface ofthe grading conveyor 218, such that portions 117 may come off of thegrading conveyor 218 and drop through an open end 812 of the V-shape andinto the V-shape formed by first and second mini-conveyors 806, 808.

One or more of the first mini-conveyor 806 and second mini-conveyor 808may be mounted above the perpendicular in-feed processing conveyor 804with a hinge member 814, such that the surface of the firstmini-conveyor 806 and the surface of the second mini-conveyor 808 may beseparated to provide a gap through which a portion 117 may fall. Forexample, the first mini-conveyor 806 may be mounted above theperpendicular in-feed processing conveyor 804 with a hinge member 814,such that the first mini-conveyor 806 may swing away from the secondmini-conveyor 808 and provide a gap through which a portion 117 mayfall. In some embodiments, the second mini-conveyor 808 may be mountedabove the perpendicular in-feed processing conveyor 804 with a hingemember 814, such that the second mini-conveyor 808 may swing away fromthe first mini-conveyor 806 and provide a gap through which a portion117 may fall. In particular embodiments, both the first mini-conveyor806 and the second mini-conveyor 808 may be mounted above theperpendicular in-feed processing conveyor 804 with a hinge member 814,such that the first mini-conveyor 806 may swing away from the secondmini-conveyor 808, and the second mini-conveyor 808 may swing away fromthe first mini-conveyor 806 to provide a gap through which a portion 117may fall.

In operation, for example, a portion 117 may have a width and a length,and the length of the portion 117 may be longer than the width. For someprocesses subsequent to grading, it may be necessary to orient theportion 117, such that the length of the portion 117 is at leastsubstantially perpendicular to the direction in which the processingconveyor 804 is moving. To ensure that the portion 117 is orientedcorrectly, the first mini-conveyor 806 and second mini-conveyor 808 maybe oriented to form the V-shape, in order to receive a portion 117 fromthe grading conveyor 218. A grading robot 224 may organize the portion117, such that the portion 117 will be dropped through the open end 812of the V-shape, and into the V-shape formed be the first mini-conveyor806 and second mini-conveyor 808. Belts on the first mini-conveyor 806and second mini-conveyor 808 may rotate to receive the portion 117, andto spread the portion 117 along the first mini-conveyor 806 and secondmini-conveyor 808. The V-shape formed by the first mini-conveyor 806 andsecond mini-conveyor 808 may tend to urge the portion 117 towards thepoint 816 of the V-shape, and to orient the portion 117 linearly along alength of the first mini-conveyor 806 and second mini-conveyor 808.Furthermore, the V-shape formed by the first mini-conveyor 806 andsecond mini-conveyor 808 may tend to orient the length of the portion117, such that the length of the portion 117 is substantially parallelto the lengths of the first mini-conveyor 806 and second mini-conveyor808, and at least substantially perpendicular to the length of theperpendicular in-feed processing conveyor 804 and the direction in whichthe perpendicular in-feed processing conveyor 804 is moving portions117. Thus, when a gap is formed between the first mini-conveyor 806 andsecond mini-conveyor 808, the portion 117 will drop onto theperpendicular in-feed processing conveyor 804 with the length of theportion 117 oriented substantially perpendicular to the direction inwhich the perpendicular in-feed processing conveyor 804 is movingportions 117. As discussed above, orienting the lengths of portions 117to be perpendicular to the direction in which the perpendicular in-feedprocessing conveyor 804 is moving portions 117 may be necessary forsubsequent processes such as packaging and freezing processes.

As shown in FIG. 8b , a food processing apparatus 200 according to someembodiments may include at least one additional realigning section 800.In particular embodiments, the food processing apparatus 200 comprisesat least one additional realigning section 800 to realign a portion whenthe capacity of the first realigning section 800 is exceeded. A foodprocessing apparatus 200 may include one or more transfer conveyor 818that directs a portion 117 to the next realigning section 800. A nextrealigning section may, for example and without limitation, realign aportion 117 onto a next processing conveyor (not shown), or realign aportion 117 into a container 820 that the portion 117 is to be packedin. A food processing apparatus 200 may also include a packing conveyor822 that can be used to move the container 820 to the correct locationto receive the portion 117. In some examples, the packing conveyor 822moves such that the portion 117 is placed at a specific x-coordinate inthe container 820. In some examples, the time at which the realigningapparatus 802 is opened is controlled, such that a specific y-positionof the portion 117 in the container 820 is selected. The container 820may either be filled completely, or partially filled. For example, thecontainer 820 may be partially filled, and a grader (not shown) may beused to fill container 820 completely.

Additional, non-limiting examples of particular embodiments are setforth below.

Embodiment 1: A grading device (e.g., a grading robot), comprising: ahorizontally movable support member; a vertically movable support memberslidably coupled to the horizontally movable support member; a firstactuator attached to the horizontally movable support member; a secondactuator attached to the vertically movable support member; and a meansfor moving at least one portion of a food article attached to thevertically movable support member.

Embodiment 2: The grading device of Embodiment 1, wherein the firstactuator and the second actuator are selected from the group consistingof an air cylinder, a motor, a linear motor, a traditional motor, and asolenoid.

Embodiment 3: The grading device of Embodiment 1 or Embodiment 2,wherein the first actuator is an air cylinder attached at one end to thehorizontally movable support member, and wherein the second actuator isan air cylinder attached at one end to the vertically movable supportmember.

Embodiment 4: The grading device of any of Embodiments 1-3, furthercomprising a support member movable in a direction substantiallyperpendicular to the horizontally movable support member.

Embodiment 5: The grading device of any of Embodiments 1-4, wherein themeans for moving at least one portion of a food article is at least oneneedle attached to a lowermost portion of the vertically movable supportmember; for example, wherein the at least one needle is capable ofpenetrating a top surface of the portion without contacting anothersurface of the portion and moving the penetrated portion.

Embodiment 6: The grading device of Embodiment 5, wherein the at leastone needle is pointed towards a surface.

Embodiment 7: The grading device of Embodiment 6, wherein the surface isthe surface of a grading conveyor.

Embodiment 8: The grading device of any of Embodiments 5-7, furthercomprising a release mechanism disposed proximate the at least oneneedle.

Embodiment 9: The grading device of any of Embodiments 5-8, wherein theat least one needle is a plurality of needles.

Embodiment 10: The grading device of Embodiment 9, wherein the pluralityof needles are oriented next to each other in a fashion selected fromthe group consisting of linear, in the shape of a square, circular,triangular, or in the shape of a cross.

Embodiment 11: The grading device of Embodiment 9 or 10, wherein atleast a first set of the plurality of needles are activated to grip afirst food article and wherein at least a second set of the plurality ofneedles are activated to grip a second food article while the firstneedle set is activated.

Embodiment 12: The grading device of any of Embodiments 1-4, wherein themeans for moving at least one portion of a food article is at least onegripper; for example, wherein the at least one gripper is capable oflifting the portion.

Embodiment 13: The grading device of Embodiment 1-12, further comprisinga third actuator attached to the vertically movable support member,wherein the third actuator is arranged to rotate the vertically movablesupport member in the horizontal plane.

Embodiment 14: The grading device of Embodiment 12 or 13, wherein the atleast one gripper is positioned above the surface of a grading conveyor.

Embodiment 15: The grading device of any of Embodiments 1-14, comprisinga plurality of means for moving at least one portion of a food article,wherein at least one of the means for moving at least one portion of afood article is at least one needle attached to a lowermost portion ofthe vertically movable support member, and wherein each of the means formoving at least one portion of a food article is capable of operationindependent of the other means for moving at least one portion of a foodarticle.

Embodiment 16: The grading device of Embodiment 15, wherein each of themeans for moving at least one portion of a food article is operated ornot operated depending on the size and orientation of the portion of afood article.

Embodiment 17: The grading device of claim 12, wherein the gripper is aplurality of needles pointed at an angle towards a surface, and thegripper is capable of lifting from the surface a portion of a foodarticle disposed thereon.

Embodiment 18: The grading device of claim 16, wherein each of the meansfor moving at least one portion of a food article is a grippercomprising a plurality of needles pointed at an angle towards a surface,wherein the gripper is capable of lifting from the surface a portion ofa food article disposed thereon.

Embodiment 19: The grading device of any of Embodiments 1-18, furthercomprising a laser sensor.

Embodiment 20: The grading device of any of Embodiments 1-19, furthercomprising: a first mounting member mounted to one side of a gradingconveyor; a second mounting member mounted to another side of thegrading conveyor; a first guide member horizontally mounted to both thefirst mounting member and the second mounting member; and a second guidemember mounted to the horizontally movable support member, wherein thehorizontally movable support member is slidably coupled to the firstguide member, and wherein the vertically movable support member isslidably coupled to the second guide member.

Embodiment 21: The grading device of Embodiment 20, wherein the firstactuator is an air cylinder attached at one end to the horizontallymovable support member and attached at another end to the secondmounting member, and wherein the second actuator is an air cylinderattached at one end to the second guide member and attached at anotherend to the vertically movable support member.

Embodiment 22: A grading device, substantially as shown in FIG. 6 a.

Embodiment 23: A grading device, substantially as shown in FIG. 6 b.

Embodiment 24: A grading device comprising a vertically movable supportmember substantially as shown in FIG. 6c and/or FIG. 6 d.

Embodiment 25: A method for grading a food article, the methodcomprising: utilizing the grading device of any of Embodiments 1-24 tomove a portion of the food article from a position on the surface of thegrading conveyor, wherein the portion is one of a plurality of portionsof the food article that each have an alignment and orientation withrespect to the surface of the grading conveyor and are positionedparallel to each other on the surface of the grading conveyor, whereinnone of the remaining portions of the plurality of portions that arepositioned parallel to each other on the surface of the grading conveyorare moved during the movement of the portion of the food article fromthe position on the surface of the grading conveyor, and wherein thealignments and orientations of the remaining portions of the pluralityof portions that are positioned parallel to each other on the surface ofthe grading conveyor are substantially maintained during the movement ofthe portion of the food article from the position on the surface of thegrading conveyor.

Embodiment 26: A method for grading a food article, the methodcomprising: utilizing the grading device of any of Embodiments 1-24 tomove a portion of the food article from a position on the surface of thegrading conveyor, wherein the portion is one of a plurality of portionsof the food article that are positioned parallel to each other (forexample, and also in series with each other) on the surface of thegrading conveyor, wherein the portion is adjoined on every side byanother portion, wherein none of the remaining portions of the pluralityof portions that are positioned parallel to each other on the surface ofthe grading conveyor are moved during the movement of the portion of thefood article from the position on the surface of the grading conveyor,and wherein the alignments and orientations of the remaining portions ofthe plurality of portions that are positioned parallel to each other onthe surface of the grading conveyor are substantially maintained duringthe movement of the portion of the food article from a first position onthe surface of the grading conveyor to a second, different position onthe surface of the grading conveyor.

Embodiment 27: A realigning apparatus for aligning a food article orportion of a food article, comprising: a first mini-conveyor; a secondmini-conveyor disposed proximate the first mini-conveyor; a firstactuator attached to the first mini-conveyor; and a second actuatorattached to the second mini-conveyor, wherein the first mini-conveyor ismounted with a hinge such that the first mini-conveyor is separable fromthe second mini-conveyor.

Embodiment 28: The realigning apparatus of Embodiment 27, wherein thefirst mini-conveyor and second mini-conveyor are oriented such that thefirst and second mini-conveyor form a V-shape.

Embodiment 29: The realigning apparatus of Embodiment 27 or Embodiment28, wherein the first mini-conveyor and the second mini-conveyor areproximate a first processing conveyor and are disposed above a secondprocessing conveyor, wherein the first conveyor is tilting at an angleand the second mini-conveyor is tilting at an angle, the firstmini-conveyor and the second mini-conveyor forming a V-shape, whereinthe first mini-conveyor is mounted above the processing conveyor with ahinge such that the first mini-conveyor is separable from the secondmini-conveyor.

Embodiment 30: The realigning apparatus of Embodiment 29, wherein thefirst processing conveyor is configured to move in a first direction andthe second processing conveyor is configured to move in a seconddirection.

Embodiment 31: The realigning apparatus of Embodiment 29, wherein thefirst direction is at least substantially perpendicular to the seconddirection.

Embodiment 32: A realigning apparatus, substantially as shown in FIG. 8.

Embodiment 33: A food processing apparatus comprising: at least oneconveyor; at least one grading device; and at least one element selectedfrom the group consisting of at least one imaging system; at least onecutting machine; and at least one realigning apparatus.

Embodiment 34: A food processing apparatus comprising: at least oneconveyor; a grading device; at least one realigning apparatus; and atleast one imaging system and/or at least one cutting machine.

Embodiment 35: The food processing apparatus of Embodiment 33 orEmbodiment 34, further comprising: at least one element selected fromthe group consisting of at least one x-ray machine; at least one manualquality check station; at least one automated quality check station; atleast one additional grading device; and at least one realigningapparatus.

Embodiment 36: The food processing apparatus of any of Embodiments33-35, wherein the grading device is the grading device of any ofEmbodiments 1-24, a two degrees of freedom grading device, a threedegrees of freedom grading device, or a four degrees of freedom gradingdevice.

Embodiment 37: The food processing apparatus of any of Embodiments33-36, wherein the realigning apparatus is the realigning apparatus ofany of Embodiments 27-32.

Embodiment 38: The food processing apparatus of any of Embodiments33-37, further comprising at least one computer programmed to adjust theposition of a means for moving at least one portion of a food article ofthe grading device.

Embodiment 39: The food processing apparatus of Embodiment 38, whereinthe at least one computer is one central computer.

Embodiment 40: The food processing apparatus of any of Embodiments33-39, comprising at least one cutting machine that comprises: a deltacutting device, a four degrees of freedom cutting device, and/or a sixdegrees of freedom cutting device; and/or a robotic arm.

Embodiment 41: The food processing apparatus of any of Embodiments33-40, comprising: at least one conveyor; at least one x-ray machine; afirst imaging system; at least one cutting machine; at least one qualitycheck station; at least one additional imaging system; at least onegrading device; at least one realigning apparatus; and at least onecomputer programmed to utilize information from the at least oneadditional imaging system to determine a feature selected from the groupconsisting of: the location of a bone or bone fragment in a portion of afood article, the location of fat in a portion of a food article, thecolor of a portion of a food article, the location of a gap in a portionof a food article, the location of a visual defect in a portion of afood article, and the location of parasites in a portion of a foodarticle, wherein the computer is programmed to utilize information aboutthe movement of the at least one conveyor and any determined feature toadjust the position of the means for moving at least one portion of afood article of the grading device.

Embodiment 42: A food processing apparatus, substantially as shown inFIG. 2.

Embodiment 43: An automated food processing system containing insequential order on a conveyor a first x-ray machine, at least onecutting machine, and a second x-ray machine, the system comprising: thefirst x-ray machine; computer programming to utilize information fromthe first x-ray machine to determine the location of a bone or bonefragment in a portion of a food article; the at least one cuttingmachine, where the cutting machine is adapted to cut out a portion of afood article containing a bone or bone fragment from one or moreportions of the food article containing flesh; the second x-ray machine;computer programming to utilize information from the second x-raymachine to determine the location of a bone or bone fragment in aportion of a food article; and a computer adapted to adjust theoperation of the at least one cutting machine according to the locationof a bone or bone fragment in a portion of a food article, so as tomaximize the size of the one or more portions of the food articlecontaining flesh that remain(s) after cutting.

Embodiment 44: The automated food processing system of Embodiment 43,wherein the at least one cutting machine comprises: a delta cuttingdevice, a four degrees of freedom cutting device, and/or a six degreesof freedom cutting device; and/or a robotic arm

Embodiment 45: The automated food processing system of Embodiment 43 orEmbodiment 44, wherein the computer comprises the programming to utilizeinformation from the first x-ray machine to determine the location of abone or bone fragment in a portion of a food article, and the computerprogramming to utilize information from the second x-ray machine todetermine the location of a bone or bone fragment in a portion of a foodarticle.

Embodiment 46: The automated food processing system of any ofEmbodiments 43-45, the system further comprising at least one foodgrading device located sequentially after the at least one cuttingmachines and before the second x-ray machine on the conveyor, whereinthe grading device is adapted to move a portion of a food articlecontaining a bone or bone fragment.

Embodiment 47: The automated food processing system of Embodiment 46,wherein the food grading device is the grading device of any ofEmbodiments 1-24.

Embodiment 48: The automated food processing system of any ofEmbodiments 43-47, the system further comprising at least one foodgrading device located sequentially after the second x-ray machine onthe conveyor, wherein the grading device is adapted to move a portion ofa food article containing a bone or bone fragment, such that the portionreenters the system at a position sequentially before the at least onecutting machine.

Embodiment 49: The automated food processing system of any ofEmbodiments 43-48, the system further comprising a computer adapted toadjust the operation of the grading device according to the location ofa bone or bone fragment in a portion of a food article, so as to move aportion of the food article containing a bone or bone fragment toreenter the system at a position sequentially before the at least onecutting machine.

Embodiment 50: The automated food processing system of any ofEmbodiments 43-49, wherein the grading device is capable of moving aparallel portion of the food article containing a bone or bone fragmentfrom a first position on the conveyor to a second position on theconveyor while substantially maintaining the alignment and orientationof other parallel portions of the food article.

Embodiment 51: The automated food processing system of any ofEmbodiments 43-50, wherein the grading device is capable of moving aparallel portion of the food article containing a bone or bone fragmentfrom a first position on the conveyor to a second position on theconveyor while substantially maintaining the alignment and orientationof the parallel portion of the food article.

Embodiment 52: A method for grading a food article, the methodcomprising: providing a plurality of portions of the food article, eachhaving an alignment and orientation with respect to a grading surface,wherein the plurality of portions are positioned parallel to each otheron the grading surface; and utilizing the grading device of any ofEmbodiments 1-24 to move a portion of the plurality of portions that isoriented parallel to another portion of the plurality of portions fromits position on the grading surface.

Embodiment 53: The method according to Embodiment 52, wherein none ofthe remaining portions of the plurality of portions that are positionedparallel to each other on the grading surface is moved, and wherein thealignment and orientation of each of the remaining portions of theplurality of portions that are positioned parallel to each other on thegrading surface is substantially maintained during movement of theportion of the plurality of portions that is oriented parallel toanother portion of the plurality of portions from its position on thegrading surface.

Embodiment 54: The method according to Embodiment 26, Embodiment 52, orEmbodiment 53, wherein the grading surface is a surface of a gradingconveyor having a direction of movement that is perpendicular to theparallel orientation of the plurality of portions.

Embodiment 55: The method according to any of Embodiments 26 and 52-54,wherein the portion that is moved is closely adjoined on opposing sidesin an orientation substantially perpendicular to the parallelorientation of the plurality of portions by other portions.

Embodiment 56: The method according to any of Embodiments 26 and 52-55,wherein providing the plurality of portions of the food articlecomprises cutting the food article into the plurality of portions.

Embodiment 57: The method according to any of Embodiments 26 and 52-56,wherein moving the portion comprises moving the portion from one area ofthe grading surface to another area of the grading surface, or removingthe portion from the grading surface.

Embodiment 58: The method according to any of Embodiments 26 and 52-57,wherein moving the portion comprises moving the portion from the gradingsurface to a processing conveyor.

Embodiment 59: The method according to any of Embodiments 26 and 52-58,further comprising selecting the portion of the plurality of portions tobe moved based on at least one criteria selected from the groupconsisting of size, weight, quality, and type.

Embodiment 60: The method according to any of Embodiments 26 and 52-59,wherein a grading device is a needle grading device, and wherein movingthe portion comprises orienting at least one needle of the needlegrading device over the center of the portion, penetrating the portionwith the at least one needle, and moving the needle, such that thepenetrated portion moves with the needle from its position on thegrading surface.

While embodiments of the invention has been illustrated and described indetail in the drawings and foregoing description, such illustration anddescription are to be considered illustrative or exemplary and notrestrictive; the invention is not limited to the particularly describedexamples. Other variations to the particularly described examples areunderstood and can effected by those skilled in the art, from a study ofthe drawings, the specification, and the appended claims. In thespecification and claims, the terms “comprising” and “including” areopen-ended, and do not exclude other elements or steps, and theindefinite article “a” or “an” does not exclude a plurality. A singleprocessor or other unit may fulfill the functions of several itemsrecited in the claims. The mere fact that certain measures are recitedin mutually different dependent claims does not indicate that acombination of these measured cannot be used to advantage. A computerprogram may be stored/distributed on a suitable medium, such as anoptical storage medium or a solid-state medium supplied together with oras part of other hardware, but may also be distributed in other forms,such as via the Internet or other wired or wireless telecommunicationsystems. Any reference signs in the claims should not be construed aslimiting the scope.

1. A method for grading a food article, the method comprising: utilizinga grading device to move a portion of the food article from a positionon a surface of a grading conveyor, wherein the portion is one of aplurality of portions of the food article that each have an alignmentand orientation with respect to the surface of the grading conveyor andare positioned parallel to each other on the surface of the gradingconveyor, wherein none of the remaining portions of the plurality ofportions that are positioned parallel to each other on the surface ofthe grading conveyor are substantially moved during the movement of theportion of the food article from the position on the surface of thegrading conveyor, and wherein the alignments and orientations of theremaining portions of the plurality of portions that are positionedparallel to each other on the surface of the grading conveyor aresubstantially maintained during the movement of the portion of the foodarticle from the position on the surface of the grading conveyor.
 2. Themethod of claim 1, wherein the portion is adjoined on every side byanother portion.
 3. The method of claim 1, wherein the grading device isselected from the group consisting of: a robot comprising a horizontallymovable support member, a vertically movable support member slidablycoupled to the horizontally movable support member, a first actuatorattached to the horizontally movable support member, a second actuatorattached to the vertically movable support member, and a means formoving at least one portion of the food article attached to thevertically movable support member, a three degrees of freedom robot, anda four degrees of freedom robot.
 4. (canceled)
 5. The method accordingto claim 1, wherein the surface is a surface of a grading conveyorhaving a direction of movement that is perpendicular to the parallelorientation of the plurality of portions.
 6. The method according toclaim 1, wherein the portion that is moved is closely adjoined onopposing sides in an orientation substantially perpendicular to theparallel orientation of the plurality of portions by other portions. 7.The method according to claim 1, wherein the plurality of portions ofthe food article are provided by cutting the food article into theplurality of portions.
 8. The method according to claim 1, whereinmoving the portion comprises moving the portion from one area of thesurface to another area of the surface, or removing the portion from thesurface.
 9. The method according to claim 1, wherein moving the portioncomprises moving the portion from the surface to a processing conveyor.10. The method according to claim 1, wherein the grading device is aneedle grading device or a gripper grading device.
 11. The methodaccording to claim 1, further comprising selecting the portion of theplurality of portions to be moved based on at least one criteriaselected from the group consisting of size, weight, quality, and type.12. The method according to claim 1, wherein the grading device is aneedle grading device, and wherein moving the portion comprises:orienting at least one needle of the needle grading device over thecenter of the portion; penetrating the portion with the at least oneneedle; and moving the needle, such that the penetrated portion moveswith the needle from its position on the surface.
 13. The methodaccording to claim 12, wherein the portion is penetrated on its topsurface without contacting another surface of the portion.
 14. Themethod according to claim 1, wherein the grading device is a grippergrading device, and wherein moving the portion comprises: contacting agripper of the gripper grading device with the portion; and lifting theportion with the gripper, such that the portion is lifted from itsposition on the surface. 15.-47. (canceled)
 48. A food processingapparatus comprising: at least one conveyor; at least one x-ray machine;a first imaging system; at least one cutting machine; at least onequality check station; at least one additional imaging system; a foodgrading device comprising: a horizontally movable support member; avertically movable support member slidably coupled to the horizontallymovable support member; a first actuator attached to the horizontallymovable support member; a second actuator attached to the verticallymovable support member; and a means for moving at least one portion of afood article attached to the vertically movable support member; at leastone realigning apparatus; and at least one computer programmed toutilize information from the at least one additional imaging system todetermine a feature selected from the group consisting of: the locationof a bone or bone fragment in a portion of a food article, the locationof fat in a portion of a food article, the color of a portion of a foodarticle, the location of a gap in a portion of a food article, thelocation of a visual defect in a portion of a food article, and thelocation of parasites in a portion of a food article, wherein thecomputer is programmed to utilize information about the movement of theat least one conveyor and any determined feature to adjust the positionof the means for moving at least one portion of a food article of thegrading device.
 49. The food processing apparatus of claim 48, whereinthe at least one cutting machine comprises: a delta cutting device, afour degrees of freedom cutting device, or a six degrees of freedomcutting device; and a robotic arm.
 50. (canceled)
 51. The foodprocessing apparatus of claim 48 containing in sequential order on theat least one conveyor a first x-ray machine, the least one cuttingmachine, and a second x-ray machine, wherein: the at least one computeris programmed to utilize information from the first x-ray machine todetermine the location of a bone or bone fragment in a portion of a foodarticle; the at least one computer is adapted to adjust the operation ofthe at least one cutting machine according to the location of a bone orbone fragment in a portion of a food article, so as to maximize the sizeof the one or more portions of the food article containing flesh thatremain(s) after cutting; the at least one cutting machine is adapted tocut out a portion of a food article containing a bone or bone fragmentfrom one or more portions of the food article containing flesh; and theat least one computer is programmed to utilize information from thesecond x-ray machine to determine the location of a remaining bone orbone fragment in a portion of a food article.
 52. The food processingapparatus of claim 51, further comprising a manual or automated qualitycheck station following the second x-ray machine.
 53. The foodprocessing apparatus of claim 51, further comprising at least one foodgrading device located sequentially after the at least one cuttingmachine and before the second x-ray machine on the at least oneconveyor, wherein the food grading device is adapted to move at leastone portion of a food article containing a bone or bone fragment. 54.The food processing apparatus of claim 53, wherein all or substantiallyall of the portion(s) containing a bone or bone fragment are moved bythe at least one food grading device.
 55. The food processing apparatusof claim 51, further comprising at least one food grading device locatedsequentially after the second x-ray machine on the at least oneconveyor, wherein the food grading device located sequentially after thesecond x-ray machine is adapted to move a portion of a food articlecontaining a bone or bone fragment.
 56. The food processing apparatus ofclaim 55, further comprising a computer adapted to adjust the operationof the food grading device located sequentially after the second x-raymachine according to the location of a remaining bone or bone fragmentin a portion of a food article, so as to move a portion of the foodarticle containing a remaining bone or bone fragment.
 57. The foodprocessing apparatus of claim 55, wherein the food grading devicelocated sequentially after the second x-ray machine is capable of movinga parallel portion of the food article containing a bone or bonefragment from a first position on the at least one conveyor to a secondposition on the at least one conveyor while substantially maintainingthe alignment and orientation of other parallel portions of the foodarticle.
 58. A mountable needle gripper device comprising a plurality ofneedle sets, wherein each needle set may be activated, independently ofother needle set(s), to grip a food article disposed beneath the gripperdevice by piercing the flesh of the food article.
 59. The needle gripperdevice of claim 58, wherein the needle set pierces the flesh at the topsurface of the food article without contacting any other surface of thefood article.
 60. The needle gripper of claim 58, wherein more than oneof the needle sets are activated to grip a single food article, therebysubstantially maintaining the alignment of the food article during amovement of the needle gripper.
 61. The needle gripper of claim 58,wherein at least a first needle set is activated to grip a first foodarticle disposed beneath the gripper device, and wherein at least asecond needle set is activated to grip a second food article disposedbeneath the gripper device while the first needle set(s) is activated.